Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn

Table 2

Comparison between simulation results and theoretical results of the platform motion velocity.

Movement type	Simulation results	Theoretical results	Relative error
Rectilinear movement	438.98	439.82	0.19%
Lateral movement	433.57	439.82	1.42%
Oblique movement at 45°
	217.41	219.91	1.14%
	217.24	219.91	1.21%
Original-place rotation	0.685	0.691	0.87%